I kind of think the spirit of FIRST ethically compels me to share my code, if it will help someone else. That being said, I'm a teacher, so if it can help someone learn I'll share it with them.
I use multiple classes to break the code down into reusable pieces, and spin off threads to allow things like the driver station to take care of themselves. I use a separate class to define autonomous routines (go straight, turn left, turn right, back up, etc.), and then call those methods in autonomous() in a script like fashion, i.e.
Code:
public void autonomous() {
autodrive.goStraight(8); // go straight ahead for 8 seconds
autodrive.turnRight(90); // turn right 90 degrees
autodrive.backUp(3); // back up for 3 seconds
}
When the AutoDrive class is complete anyone on my team should be able to program an autonomous routine using simple commands, without having to worry about how the program actually accomplishes the task.
The whole thing is modular that way. I use SimpleRobot instead of Iterative: it allows finer control of a multi-threaded model, without the interference of the automatic looping in Iterative. Iterative would eliminate threads, but would also be more monolithic, and therefore less reusable.
Off topic
I'm sketching out my camera class, so I'm looking for better (meaning easier to follow) code than the stock examples. Jimmy's looks good, and I can actually read it (well, mostly
)